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Control of a Piezo Actuated Structure using Robust Loop Shaping Controller with GPC Based Precompensator Involving Data Fusion

Jayabalan Arunshankar, Mangalanathan Umapathy


This work presents the design and performance analysis of a robust controller for the active control of the first two vibrating modes of a piezo actuated structure, when the structure is maintained at first mode and second mode resonance. The linear dynamic model of the piezo actuated beam, is identified using linear Recursive Least Square (RLS) method based on ARX model. The control design and performance are then evaluated using robust loop shaping controller. The pre compensator design for the controller is carried out using Generalized Predictive Control (GPC) technique. The vibrating modes are measured by two homogeneous piezoelectric sensors. The states estimated from the sensor outputs, using information filter are fused and applied as controller input. The performance of the controller is evaluated through simulation and it is found that the closed loop performance with data fusion gives improved results.


Piezoelectric, generalized predictive control, information filter, data fusion, robust loop shaping control

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